A vision guided screw insertion robotic system for bone tissues using rolling frictions

    • We proposed a novel mechanism using rolling frictions for drilling bone tissues to ensure the surgical safety.
    • Since the proposed force transmission method is the friction based method, there is no mechanical connection between the robot and drill.
    • It makes the separation between the robot and the drill to be easily available at the emergency situation.
    • We proposed an insertion mechanism by using rolling friction for surgical safety of the auto drilling.
    • The mechanism can induce a desired moment and thrust force by adjusting the angle of the roller